In ubiquitous environments, many applications need to process data with time and space dimensions. Because of this, there is growing attention not only on gathering spatiotemporal data in ubiquitous environments, but also on processing such data in databases. In order to obtain the full benefits from spatiotemporal data, we need a data model that naturally expresses the properties of spatiotemporal data. In this paper, we introduce three spatiotemporal data models extended from temporal data models. The main goal of this paper is to determine which data model is less complex in the spatiotemporal context. To this end, we compare their query languages in the complexity aspect because the complexity of a query language is tightly coupled with its underlying data model. Throughout our investigations, we show that it is important to intertwine space and time dimensions and keep one-to-one correspondence between an object in the real world and a tuple in a database in order to naturally express queries in ubiquitous applications.

C. X. Chen, J. Kong, and C. Zaniolo. "Design and implementation of a temporal extension of SQL." In Proceedings of the 19th International Conference on Data Engineering, Bangalore, India, 2003, pp.689-691.